EP 4343372 A1 20240327 - METHOD AND APPARATUS FOR IDENTIFYING FALLING OBJECT BASED ON LIDAR SYSTEM, AND READABLE STORAGE MEDIUM
Title (en)
METHOD AND APPARATUS FOR IDENTIFYING FALLING OBJECT BASED ON LIDAR SYSTEM, AND READABLE STORAGE MEDIUM
Title (de)
VERFAHREN UND VORRICHTUNG ZUR IDENTIFIZIERUNG EINES FALLENDEN OBJEKTS AUF BASIS EINES LIDAR-SYSTEMS UND LESBARES SPEICHERMEDIUM
Title (fr)
PROCÉDÉ ET APPAREIL D'IDENTIFICATION D'OBJET TOMBANT SUR LA BASE D'UN SYSTÈME LIDAR, ET SUPPORT D'INFORMATIONS LISIBLE
Publication
Application
Priority
CN 202211140019 A 20220920
Abstract (en)
The present disclosure provides a method (100) and an apparatus for identifying a falling object based on a LiDAR system, and a readable storage medium. The method includes: obtaining a point cloud data set of a LiDAR system (S 110); identifying a dynamic point cloud cluster set based on the point cloud data at the first moment and the point cloud data at the second moment, where the dynamic point cloud cluster set includes at least one dynamic point cloud cluster (S120); and enabling a tracking and determination process in response to identifying the dynamic point cloud cluster set (S130). For each dynamic point cloud cluster, a data set of a dynamic point cloud cluster at each current moment following the second moment is updated in real time, where the data set of the dynamic point cloud cluster includes at least data representing a position of the dynamic point cloud cluster in a direction of gravity (S 131); it is determined whether the data representing the position of the dynamic point cloud cluster in the direction of gravity within a set time period meets a law of free fall (S 132); and it is determined that an object represented by the dynamic point cloud cluster is a falling object in response to determining that the data meets the law of free fall (S133).
IPC 8 full level
G01S 7/48 (2006.01); G01S 17/58 (2006.01); G01S 17/66 (2006.01); G01S 17/86 (2020.01); G06T 7/70 (2017.01)
CPC (source: CN EP US)
G01S 7/4808 (2013.01 - EP); G01S 17/58 (2013.01 - EP); G01S 17/66 (2013.01 - EP); G01S 17/86 (2020.01 - EP); G01S 17/89 (2013.01 - US); G06T 7/0002 (2013.01 - CN); G06T 7/246 (2017.01 - CN EP); G06T 7/70 (2017.01 - CN); G06T 7/73 (2017.01 - US); G06V 10/30 (2022.01 - US); G06V 20/52 (2022.01 - US); G06T 2207/10028 (2013.01 - EP US); G06T 2207/10044 (2013.01 - CN); G06T 2207/30184 (2013.01 - EP); G06T 2207/30232 (2013.01 - EP); G06T 2207/30241 (2013.01 - EP)
Citation (search report)
- [A] US 2018172828 A1 20180621 - MOODY JOHN E [US], et al
- [A] CN 114005247 A 20220201 - SHENZHEN LUMI UNITED TECH CO LTD
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA
Designated validation state (EPC)
KH MA MD TN
DOCDB simple family (publication)
EP 4343372 A1 20240327; CN 115239706 A 20221025; US 2024096100 A1 20240321
DOCDB simple family (application)
EP 23194725 A 20230831; CN 202211140019 A 20220920; US 202318369112 A 20230915